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This paper addresses the challenge of achieving fixed-time cluster consensus in multi-agent systems (MASs) through the design of an adaptive switching protocol. Unlike conventional methods, the proposed controller is more concise and easier to implement, as it consists of only two components: inter-cluster and intra-cluster interactions. Furthermore, the designed protocol guarantees that the system reaches cluster consensus within a fixed time, without requiring prior knowledge of the target state. Sufficient conditions for fixed-time cluster consensus are derived, and the settling time is theoretically estimated. Numerical simulations validate the effectiveness of the switching controller and explore the impact of different control parameters, offering valuable insights for practical applications.

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Time Cost for Cluster Consensus of Multi-agent Systems with Switching Control

  • 会议论文

  • 发表日期：

    2026年

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  • Jiaqi Chang,
  • Haifeng Dai,
  • Guanghui Wen

摘要

This paper addresses the challenge of achieving fixed-time cluster consensus in multi-agent systems (MASs) through the design of an adaptive switching protocol. Unlike conventional methods, the proposed controller is more concise and easier to implement, as it consists of only two components: inter-cluster and intra-cluster interactions. Furthermore, the designed protocol guarantees that the system reaches cluster consensus within a fixed time, without requiring prior knowledge of the target state. Sufficient conditions for fixed-time cluster consensus are derived, and the settling time is theoretically estimated. Numerical simulations validate the effectiveness of the switching controller and explore the impact of different control parameters, offering valuable insights for practical applications.